Datasets:

introvoyz041
/

mujoko

	import multiprocessing as mp
	import os
	import subprocess
	import sys
	from os.path import abspath, dirname, join

	import numpy as np
	import pytest

	from mujoco_py import MjSim, MjRenderPool, load_model_from_xml
	from mujoco_py.modder import TextureModder
	from mujoco_py.tests.utils import compare_imgs

	BASIC_MODEL_XML = """
	<mujoco>
	<worldbody>
	<light name="light1" diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
	<camera name="camera1" pos="3 0 0" zaxis="1 0 0" />
	<geom name="g1" pos="0.5 0.4 0.3" type="plane" size="1 1 0.1" rgba="1 1 1 1" material="m1" />
	<body pos="0 0 1" name="body1">
	<joint name="joint1" type="free"/>
	<geom name="g2" pos="0 1 0" type="box" size=".1 .2 .3" rgba="1 1 1 1" material="m2" />
	<site name="site1" pos="1 0 0" size="0.1" type="sphere"/>
	<site name="sensorsurf" pos="0 0.045 0" size=".03 .03 .03" type="ellipsoid" rgba="0.3 0.2 0.1 0.3"/>
	</body>
	<body pos="1 0 0" name="mocap1" mocap="true">
	<geom name="g3" conaffinity="0" contype="0" pos="0 0 0" size="0.01 0.01 0.01" type="box" material="m3" rgba="1 1 1 1"/>
	</body>
	</worldbody>
	<sensor>
	<touch name="touchsensor" site="sensorsurf" />
	</sensor>
	<asset>
	<texture name="t1" width="33" height="36" type="2d" builtin="flat" />
	<texture name="t2" width="34" height="39" type="2d" builtin="flat" />
	<texture name="t3" width="31" height="37" type="2d" builtin="flat" />
	<material name="m1" texture="t1" />
	<material name="m2" texture="t2" />
	<material name="m3" texture="t3" />
	</asset>
	</mujoco>
	"""


	@pytest.mark.requires_rendering
	def test_spawn():
	# pytest and nose both use 'fork' by default, so we
	# expect a runtime error
	model = load_model_from_xml(BASIC_MODEL_XML)
	with pytest.raises(RuntimeError):
	MjRenderPool(model, n_workers=3)


	@pytest.mark.requires_rendering
	def test_multiprocessing():
	# pytest doesn't work well with multiprocessing, so just
	# run the multiprocessing tests manually by running this
	# script as a subprocess
	env = os.environ
	env['MUJOCO_PY_TEST_ASSET_DIR_PATH'] = abspath(
	join(dirname(__file__), '..', 'test_imgs'))
	subprocess.check_call([sys.executable, __file__], env=env, shell=True)


	def mp_test_create_destroy():
	model = load_model_from_xml(BASIC_MODEL_XML)
	pool = MjRenderPool(model, n_workers=2)
	del pool

	# closing before deleting should be fine too
	pool = MjRenderPool(model, n_workers=2)
	pool.close()
	del pool


	def mp_test_rendering():
	model = load_model_from_xml(BASIC_MODEL_XML)
	pool = MjRenderPool(model, n_workers=3)

	images = pool.render(100, 100)
	assert images.shape == (3, 100, 100, 3)
	compare_imgs(images[0], 'test_render_pool.mp_test_rendering.0.png')
	assert np.all(images[0] == images[1])

	images, depth = pool.render(101, 103, depth=True)
	assert images.shape == (3, 103, 101, 3)
	assert depth.shape == (3, 103, 101)
	assert np.all(images[0] == images[1])
	assert np.all(images[1] == images[2])


	def mp_test_cameras():
	model = load_model_from_xml(BASIC_MODEL_XML)
	pool = MjRenderPool(model, n_workers=1)

	image = pool.render(100, 100)
	assert image.shape == (1, 100, 100, 3)
	compare_imgs(image[0], 'test_render_pool.mp_test_cameras.0.png')

	image = pool.render(100, 100, camera_name='camera1')
	assert image.shape == (1, 100, 100, 3)
	compare_imgs(image[0], 'test_render_pool.mp_test_cameras.1.png')


	def mp_test_modder():
	model = load_model_from_xml(BASIC_MODEL_XML)
	pool = MjRenderPool(model, n_workers=2, modder=TextureModder)

	images = pool.render(100, 100, randomize=True)
	assert images.shape == (2, 100, 100, 3)

	# the order of the images aren't guaranteed to be consistent
	# between the render runs
	images1 = pool.render(100, 100, randomize=False)
	assert images1.shape == (2, 100, 100, 3)

	if np.all(images[0] == images1[0]) and np.all(images[1] == images1[1]):
	images_same = True
	elif np.all(images[0] == images1[1]) and np.all(images[1] == images1[0]):
	images_same = True
	else:
	images_same = False
	assert images_same

	images2 = pool.render(100, 100, randomize=True)
	assert images2.shape == (2, 100, 100, 3)

	if np.all(images[0] == images2[0]) and np.all(images[1] == images2[1]):
	images_same = True
	elif np.all(images[0] == images2[1]) and np.all(images[1] == images2[0]):
	images_same = True
	else:
	images_same = False
	assert not images_same


	def mp_test_states():
	sim = MjSim(load_model_from_xml(BASIC_MODEL_XML))

	states = []
	for val in range(3):
	sim.data.qpos[:3] = val * 0.1
	states.append(sim.get_state())

	pool = MjRenderPool(sim.model, n_workers=3)

	images = pool.render(100, 100, states=states[:2])
	assert images.shape == (2, 100, 100, 3)
	compare_imgs(images[0], 'test_render_pool.mp_test_states.1.png')
	compare_imgs(images[1], 'test_render_pool.mp_test_states.2.png')

	states = list(reversed(states))
	images = pool.render(100, 100, states=states)
	assert images.shape == (3, 100, 100, 3)
	compare_imgs(images[0], 'test_render_pool.mp_test_states.3.png')
	compare_imgs(images[1], 'test_render_pool.mp_test_states.4.png')
	compare_imgs(images[2], 'test_render_pool.mp_test_states.5.png')


	if __name__ == '__main__':
	mp.freeze_support()
	mp.set_start_method('spawn')

	mp_test_create_destroy()
	mp_test_rendering()
	mp_test_states()
	mp_test_cameras()
	mp_test_modder()